Heat oven to 350℉/177℃.
Line sheet pan with parchment paper. Set aside.
With an electric mixer, beat butter and sugars until light and fluffy, about 2-3 minutes.
Add peanut butter, milk, and vanilla.
Beat until well combined.
Mix in flour, baking powder, baking soda, and salt.
Use a 1½ Tablespoon scoop to portion dough.
Roll each ball of dough in extra ⅓ cup granulated sugar.
Place on prepared pan.
Bake for 15 minutes.
Take cookies out of oven and immediately press a chocolate heart into the center of each cookie.